Page 1 ROBOTICS Product manual IRB 930...
Page 2 Trace back information: Workspace 23B version a11 Checked in 2023-06-20 Skribenta version 5.5.019...
Page 3 Product manual IRB 930-12/0.85 IRB 930-12/1.05 IRB 930-22/1.05 IRC5 Document ID: 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved. Specifications subject to change without notice.
Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
Robot cabling and connection points ............3.5.2 Customer connections ................Start of robot in cold environments ..............Test run after installation, maintenance, or repair ............ Maintenance Introduction ...................... Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 6 Replacing the axis-1 gear unit sub-assembly ..........5.8.2 Replacing the axis-2 gear unit sub-assembly ..........Calibration Introduction to calibration ................... 6.1.1 Introduction and calibration terminology ............6.1.2 Calibration methods ................. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 7 Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Spare parts Spare part lists and illustrations ................Index Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 8 This page is intentionally left blank...
Page 9: Overview Of This Manual
The robot described in this manual has the following protection types: • Standard Product manual scope The manual covers all variants and designs of the IRB 930. Some variants and designs may have been removed from the business offer and are no longer available for purchase. Usage This manual should be used during: •...
Page 10 Overview of this manual Continued References Documentation referred to in the manual, is listed in the table below. Document name Document ID Product manual, spare parts - IRB 930 3HAC086010-001 Product specification - IRB 930 3HAC086011-001 Circuit diagram - IRB 930 3HAC081880-003...
Page 11: Product Documentation
Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
Page 12 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 13: How To Read The Product Manual
Likewise, certain work methods or general information that is valid for several product models, can be illustrated with illustrations that show a different product model than the one that is described in the current manual. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 14 This page is intentionally left blank...
Page 15: Safety
Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the industrial robot will not cause injury or damage even if all safety instructions are complied with. The information does not cover how to design, install and operate a robot system, nor does it cover all peripheral equipment that can influence the safety of the robot system.
Page 16: Requirements On Personnel
The plant liable must make sure that the personnel is trained on the robot, and on responding to emergency or abnormal situations. Personal protective equipment Use personal protective equipment, as stated in the instructions. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 17: Safety Signals And Symbols
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 18 1.2.1 Safety signals in the manual Continued Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 19: Safety Symbols On Manipulator Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 20 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 21 Tip risk when loosening bolts The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 22 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 23 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 24 Shut off with handle Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 25: Robot Stopping Functions
The protective stops and emergency stops are described in the product manual for the controller. For more information see: • Product manual - OmniCore C30 • Product manual - OmniCore C90XT Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 26: Safety During Installation And Commissioning
When the robot is installed at a height, hanging, or other than mounted directly on the floor, there will be additional hazards. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 27 Water • Compressed air • Hydraulics End-effector hazards require particular attention for applications which involve close human collaboration with the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 28 Before the robot system is put into operation, verify that the safety functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 29: Safety During Operation
Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 31 Unexpected movement of robot arm WARNING Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 32 WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Related information See also the safety information related to installation and operation. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 33: Emergency Release Of The Robot Axes
When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 34: Brake Testing
For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 35: Safety During Troubleshooting
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
Page 36: Safety During Decommissioning
Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 37: Manipulator Description
2.1 About IRB 930 Introduction The IRB 930 is one of ABB Robotics latest generation of 4-axis robot, with a payload of 12 kg and 22 kg, designed based on industrial robot platform. The robot has an open structure that is especially adapted for flexible use, and can communicate extensively with external systems.
Page 38: Technical Data
The actual mounting angle must always be configured in the system parameters, otherwise the performance and lifetime is affected. For details, see Technical reference manual - System parameters. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 39 The values also never reach their maximum at the same time! WARNING The robot installation is restricted to the mounting options given in following load table(s). Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 40 This might be a problem, depending on the requirements from the applications. If this is a problem, the robot needs to be isolated from the environment. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 41 Manipulator, protection type Standard IP30 According to IEC 60529. The protection class of the ballscrew area is IP20. For more information, please contact ABB. Environmental information The product complies with IEC 63000. Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances.
Page 42: Robot Dimensions
1.05_0.45 360 mm 360 mm 560 mm 560 mm 330 mm 330 mm 530 mm 530 mm 854.2 mm 1,004.2 mm 854.2 mm 1,004.2 mm Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 43: Working Range
0.85_0.3 0.85_0.45 1.05_0.3 1.05_0.45 300 mm 450 mm 300 mm 450 mm (Axis3) 850 mm 1,050 mm 360 mm 560 mm Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 44 2 Manipulator description 2.4 Working range Continued Variants 0.85_0.3 0.85_0.45 1.05_0.3 1.05_0.45 490 mm 284.1 mm 322.7 mm ±145° (Axis1) ±145° (Axis2) ±400° (Axis4) Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 45: Information Labels
Rating Label Manual xx2300000167 ABB logo IRB 930 logo Rating label Calibration label UL label Read manual and caution Brake release label Extra O-ring fitting label Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 46: The Unit Is Sensitive To Esd
The mat must be grounded through a current-limiting resistor. • Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 47: Installation And Commissioning
Safety on page 15 before performing any installation work. Note Always connect the IRB 930 and the robot to protective earth and residual current device (RCD) before connecting to power and starting any installation work. For more information see: •...
Page 48: Unpacking
It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • Be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work. • Conform to all national and local codes.
Page 49: Risk Of Tipping/Stability
Note The robot might be positioned in a different position at delivery, due to actual configurations and options (for example DressPack). Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 50 How to use the transportation bracket is described further in Transportation bracket on page WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 51: Transportation Bracket
Note Keep the brackets every time when it's removed from the robot for further use. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 52 3 Installation and commissioning 3.2.3 Transportation bracket Continued xx2300000584 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 53 3 Installation and commissioning 3.2.3 Transportation bracket Continued Removing the transportation bracket Action Note Remove the screws. Remove the bracket. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 54: On-Site Installation
Introduction This procedure is a brief guide when installing the robot for the first time. Also see Pre-installation procedure on page First installation Use these procedures to install the IRB 930. Action Note Transport the manipulator to its intended location.
Page 55: Test Run After Installation, Maintenance, Or Repair
Verify the application in the operating mode manual reduced speed. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before initiating motion. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 56: Lifting The Robot
Article number Note Overhead crane Roundsling, 0.6 m Length: 0.6 m. Lifting capacity: >70 kg. Lifting eye, M6 Lifting eye, M8 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 57 WARNING The robot is mechanically unstable if not se- cured to the foundation. CAUTION The weight of the IRB 930 robot is 22 kg All lifting accessories used must be sized ac- cordingly. WARNING Personnel must not, under any circumstances, be present under the suspended load.
Page 58: Manually Releasing The Brakes
Make sure no personnel is near or beneath the ro- bot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 59 If they are mixed up, damage can be caused to internal electrical components. xx2300000169 Use the brake releasing button as described in Releasing the brakes on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 60: Orienting And Securing The Robot
200HV Tighten the bolts in a crosswise pattern to ensure Tightening torque: 150 Nm±10 Nm that the base is not distorted. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 61 This illustration shows the hole configuration used when securing the robot. Illustration for rear outlet cable version: 4x 18,5 THRU + 0,015 10 H7 xx2300000165 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 62 3 Installation and commissioning 3.3.5 Orienting and securing the robot Continued Illustration for underneath outlet cable version: 193.3 18.5 xx2300000166 Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 63: Loads Fitted To The Robot, Stopping Time And Braking Distances
The performance of the motor brake depends on if there are any loads attached to the robot. See the product specification for the robot, listed in References on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 64: Fitting Equipment On The Robot (Robot Dimensions)
(See figures in Holes for mounting of extra equipment.) Note Maximum load on the frame must not be exceeded. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 65 The dimensions for fitting the end effector is shown in the following figure. Note Mounting of other equipment on the IRB 930 may damage the gearboxes. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A...
Page 66 When fitting tools on the tool flange, only use screws with quality 12.9. For other equipment use suitable screws and tightening torque for your application. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 67: Restricting The Working Range
Part of the casting or fixed on the casting and can not /should not be removed. Can be installed in one or more than one position, to ensure a reduced working range, or be removed to allow extended working range. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 68: Mechanically Restricting The Working Range
The figures shows where the axis-1 mechanical stop is placed on the robot. xx2300000173 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 69 The figures shows where the axis-2 mechanical stop is placed on the robot. xx2300000174 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 70 The figures shows where the axis 3 mechanical stops are placed on the robot. xx2300000172 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 71: Electrical Connections
Robot cable, signals Transfers resolver data from R1.SMB and power supply to the serial measurement board. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 72 CP/CS cable length Article number 3HAC067449-001 3HAC067449-002 15 m 3HAC067449-003 Customer cables - Ethernet floor cable Ethernet floor cable length Article number 3HAC067447-002 15 m 3HAC067447-003 Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 73: Customer Connections
R1.C1 and R1.C2 connectors on the base are parts of the CP/CS cable and Ethernet floor cable, respectively. For details about the robot cabling, see Robot cabling and connection points on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 74 Protection covers for air hose connector on the process hub Protection covers for C2/SMB connector on the base and C1/C2 connector on the process hub Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 75 3 Installation and commissioning 3.5.2 Customer connections Continued Protection cover for C1 connector on the base Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 76: Start Of Robot In Cold Environments
If the program consists of large wrist movements, it is possible that the reorientation velocity, which is always high in predefined velocities, needs to be included in the ramping up. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 77: Test Run After Installation, Maintenance, Or Repair
Verify the application in the operating mode manual reduced speed. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before initiating motion. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 78 This page is intentionally left blank...
Page 79: Maintenance
Note If the IRB 930 is connected to power, always make sure that the IRB 930 is connected to protective earth and a residual current device (RCD) before starting any maintenance work.
Page 80: Service Information System (Sis)
Such information of the ball screw spline unit of the IRB 930 is reported as axis 3 in the SIS system. When a service message is reported for axis 3 of the IRB 930, an inspection on the ball screw spline unit is required.
Page 81: Maintenance Schedule And Expected Component Life
4.3.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRB 930: • Calendar time: specified in months regardless of whether the system is running or not.
Page 82: Maintenance Schedule
Expected component life on page 84 Maintenance schedule Maintenance activities Reference Cleaning the robot Cleaning the IRB 930 on page 98 Check for abnormal wear or Inspecting the robot contamination. Inspecting the robot cabling on Inspecting the robot harness...
Page 83 The battery is to be replaced at given maintenance interval or at battery low alert. Not needed separately if already included in the application. vi Recommended test interval is within the range 8-48 hours. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 84: Expected Component Life
Examples of "extreme usage" in regard to movement: press tending, very severe palletizing applications, major use of axis 1 movement and major use of bending backwards of axis 3. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 85: Inspection Activities
Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Spare parts on page 599. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 86: Inspecting The Robot Cabling
• the cabling to motors 1 and 2. Look for abrasions, cuts or crush damage. Replace the cabling if wear or damage is detected. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 87: Inspecting The Ball Screw Spline Unit
The ball screw spline unit is located as shown in the figure. xx2300000475 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 88 Press the brake release button and move the shaft to its upper and lower limits manually. xx2300000168 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 89 Lubricating the ball screw spline unit on page Replace the ball screw spline unit if wear or dam- Replacing the ball screw on age is detected. page 308. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 90: Inspecting Mechanical Stops
Location of mechanical stops The mechanical stops on axis 1, 2 and 3 are located as shown in the figures. xx2300000173 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 91 4 Maintenance 4.4.4 Inspecting mechanical stops Continued xx2300000174 xx2300000172 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 92 4.4.4 Inspecting mechanical stops Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 93 Replace if any mechanical stop is: • bent • loose • damaged. Note The expected life of gearboxes can be reduced as a result of collisions with the mechanical stop. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 94: Inspecting Timing Belts
Use a sonic tension meter to measure the Timing belt tension on page timing belt tension. Adjust the belt tension if needed! Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 95: Replacement/Changing Activities
Replacing the battery pack Replacing the battery pack is accessible after removing the SMB from the base, Replacing the SMB unit and battery unit on page 129. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 96: Lubrication Activities
Used to release the motor brakes. Required consumables Consumable Article number Note Grease THK AFA Grease 3HAC077740-001 Gastrol Spheerol EPL 1 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 97 Move the shaft up and down several times while pressing the brake release button to smooth out the grease on the shaft. Wipe off excessive grease. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 98: Cleaning Activities
4.7.1 Cleaning the IRB 930 General To secure high uptime it is important that the IRB 930 is cleaned regularly. The frequency of cleaning depends on the environment in which the manipulator works. Different cleaning methods are allowed depending on the type of protection of the IRB 930.
Page 99 4.7.1 Cleaning the IRB 930 Continued Cleaning with water and steam Instructions for rinsing with water ABB robots with protection types Standard, Foundry Plus, Wash, or Foundry Prime can be cleaned by rinsing with water (water cleaner). The following list defines the prerequisites: •...
Page 100: Changing Activities
Includes pump with outlet pipe. Use the suggested dispenser or a similar one: • Orion OriCan article number 22590 (pneumatic) Nipple for quick connect fitting, with o-ring Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 101: Changing Oil, Axis-1 Gearbox
Information about the oil is found in Technical refer- ence manual - Lubrication in gearboxes. Type and amount of oil in gearboxes on page 100. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 103 Drain the gearbox oil. Note Draining is time-consuming. Elapsed time varies depending on the temperature of the oil. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 104 Open the oil plugs, one for filling and the other for venting. xx2300000547 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 105 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 106: Changing Oil, Axis-2 Gearbox
Information about the oil is found in Technical refer- ence manual - Lubrication in gearboxes. Type and amount of oil in gearboxes on page 100. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 107 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 108 Drain the gearbox oil. Note Draining is time-consuming. Elapsed time varies depending on the temperature of the oil. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 109 The lower oil plug has to be closed; other- wise, the oil may leak before required oil amount is filled. xx2300000549 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 110 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 111: Repair
Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRB 930, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 112: General Procedures
Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 113: Mounting Instructions For Bearings
Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 114 Grooved ball bearings must be filled with grease from both sides. • Tapered roller bearings and axial needle bearings must be greased in the split condition. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 115: Mounting Instructions For Sealings
Do not try to grind or polish the shaft surface to get rid of the defect. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 116 Mount the sealing correctly with a mounting tool. Never hammer directly on the sealing as this may result in leakage. xx2000000072 A Gap Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 117 If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface. Tighten the screws evenly when fastening the flange joint.
Page 118: Cut The Paint Or Surface On The Robot Before Replacing Parts
Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 119: Cable Harness
The process hub is located as shown in the figure. xx2300000467 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 120 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 121 Remove the screws locking the process hub. For robots with protection class IP30 xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 122 Disconnecting the air hoses, C1 cabling and C2 cabling (if equipped) Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 123 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000544 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 124 Be aware of the cabling that is attached to the cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 125 The air hoses with the same number connect to the same L-shaped connector. Secure the C2 cabling to the C2 bracket with the cable straps. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 126 Reconnect the connector. • R2.PB See the number markings on the connectors for help to find the corresponding connector. xx2300000543 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 127 IP30 (option 3350-300) cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 128 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 129: Replacing The Smb Unit And Battery Unit
The SMB unit and battery unit are located as shown in the figure. xx2300000468 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 130 Preparations before removing the SMB unit and battery unit Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 131 Remove the screws on the SMB cover to the base. For robots with protection class IP30 (option 3350-300) Pull the SMB cover with the SMB unit assembly out together. xx2300000489 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 132 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 133 ESD on page Separate the battery unit from the SMB assembly by cutting the cable straps. xx2100001035 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 134 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 135 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 136: Replacing The Main Harness
The main harness is located as shown in the figure. xx2300000469 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 137 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 138 Removing the process hub screws Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 139 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the air hoses from the L-shaped con- nectors. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 140 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000544 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 141 Disconnecting the connectors for axis-3 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 142 Disconnecting the connectors for axis-4 motor Action Note Disconnect the axis-4 motor connectors. • R2.MP4 • R2.FB4 xx2300000492 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 143 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000545 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 144 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 145 Remove the screws. For robots with protection class IP30 (option 3350-300) Remove the cover. xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 146 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Cut the strips. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 147 For rear outlet cable version: the screws on the base plate. For robots with protection class IP30 (option 3350-300) Remove the base plate. xx2300000500 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 148 Removing the base bracket Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 149 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000505 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 150 Removing the main harness from the cable arm position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 151 Removing the main harness from the axis -1 gearbox position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 152 Wrap the connectors with the masking tape. xx2300000507 For underneath outlet cable ver- sion: xx2300000612 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 153 For robots with protection class Remove the main harness assembly. IP30 (option 3350-300) Note Remove the bottom plate from the main harness if needed. xx2300000609 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 154 Make sure that no cables or hoses are twisted or For underneath outlet cable ver- strained. Reroute if necessary. sion: xx2300000610 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 155 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Lay the main harness in a natural state without distortion. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 156 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 157 Secure the SMB cover to the base with the Screws: Hex socket head cap screws. screw M4x10 12.9 Lafre 2C2B/FC6.9 (6 pcs) Tightening torque: 2.6 Nm xx2300000489 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 158 Refitting the base plate/ rear plate Action Note Apply grease to the internal harness, cover all moving area of the harness. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 159 Screws: Hex socket head cap brackets in inner arm. screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) x 2 Tightening torque: 2.4 Nm ±10% Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 160 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000508 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 161 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000506 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 162 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 163 Route the cabling on the axis-4 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 164 Route the cabling on the axis-3 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 165 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 166 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 167 See the number markings on the air hoses for help to find the corresponding air hoses. The air hoses with the same number connect to the same Y-shaped connector. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 168 IP30 (option 3350-300) cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 169 M4x10 12.9 Lafre Refit the screws. 2C2B/FC6.9 (7 pcs) Tightening torque: 6 Nm ±3% For robots with protection class IP30 (option 3350-300) xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 170 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 171: Base
The base is located as shown in the figure. xx2300000470 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 172 If no previous reference values exist, and routine on page 565. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 173 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 174 Plug a G3/8 quick coupling connector with pipe to the quick coupling on base. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 175 Remove the screws locking the process hub. For robots with protection class IP30 xx2300000487 Push the process hub to the outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 176 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the air hoses from the L-shaped con- nectors. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 177 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000544 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 178 Disconnecting the connectors for axis-3 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 179 Disconnecting the connectors for axis-4 motor Action Note Disconnect the axis-4 motor connectors. • R2.MP4 • R2.FB4 xx2300000492 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 180 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000545 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 181 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 182 Remove the screws. For robots with protection class IP30 (option 3350-300) Remove the cover. xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 183 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Cut the strips. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 184 For rear outlet cable version: the screws on the base plate. For robots with protection class IP30 (option 3350-300) Remove the base plate. xx2300000500 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 185 Disconnecting the connectors for axis-1 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 186 Remove the screws on the base bracket to the base from the SMB side. xx2300000503 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 187 Removing the main harness from the cable arm position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 188 Removing the main harness from the axis -1 gearbox position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 189 Wrap the connectors with the masking tape. xx2300000507 For underneath outlet cable ver- sion: xx2300000612 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 190 Removing the oil tank Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 191 Removing the protection tube Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 192 Disconnect the axis-1 gear to the inner arm. xx2300000514 Remove the BassSwing gasket on the axis-1 gear unit. xx2300000602 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 193 Remove the screws and washers on the base to the axis-1 gear unit. Remove the base. xx2300000515 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 194 Screws: Hex socket head cap tion. screw M6x65 12.9 Gleitmo 603+Geomet 500 (11 pcs) Refit the screws. Tightening torque: 10 Nm ±10% xx2300000515 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 195 Washers: Spring washer, conical Refit the screws and washers without fully 11x5.3x1.2 Steel (4 pcs) tightened. Tightening torque: 10 Nm ±10% xx2300000512 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 196 Refitting the protection tube Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 197 M4x10 12.9 Lafre Secure the screws on the oil tank to the inner arm. 2C2B/FC6.9 (5 pcs) Tightening torque: 2.4 Nm ±3% xx2300000511 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 198 Make sure that no cables or hoses are twisted or For underneath outlet cable ver- strained. Reroute if necessary. sion: xx2300000610 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 199 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Lay the main harness in a natural state without distortion. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 200 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 201 Secure the SMB cover to the base with the Screws: Hex socket head cap screws. screw M4x10 12.9 Lafre 2C2B/FC6.9 (6 pcs) Tightening torque: 2.6 Nm xx2300000489 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 202 Refitting the base plate/ rear plate Action Note Apply grease to the internal harness, cover all moving area of the harness. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 203 Screws: Hex socket head cap brackets in inner arm. screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) x 2 Tightening torque: 2.4 Nm ±10% Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 204 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000508 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 205 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000506 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 206 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 207 Route the cabling on the axis-4 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 208 Route the cabling on the axis-3 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 209 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 210 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 211 See the number markings on the air hoses for help to find the corresponding air hoses. The air hoses with the same number connect to the same Y-shaped connector. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 212 IP30 (option 3350-300) cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 213 M4x10 12.9 Lafre Refit the screws. 2C2B/FC6.9 (7 pcs) Tightening torque: 6 Nm ±3% For robots with protection class IP30 (option 3350-300) xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 214 The amount of oil to be filled depends on the amount previously being drained. Refit the oil plugs. Tightening torque: 10 Nm Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 215 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 216: Inner Arm
The inner arm is located as shown in the figure. xx2300000471 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 217 Handheld dynamometer Used for measuring the timing belt tension. Required consumables Consumable Article number Note Cable straps Grease 3HAC029132-001 FM 222 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 218 Do not lay down the robot during the transporta- tion, always keep it straight. If the robot lay down in any situation, the grease may come out from gearbox. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 220 Drain the gearbox oil. Note Draining is time-consuming. Elapsed time varies depending on the temperature of the oil. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 221 Plug a clean pipe to the oil plug, draining, with the other end to the oil collecting ves- sel. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 222 Removing the cover of the outer arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 223 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the air hoses from the L-shaped con- nectors. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 224 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000544 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 225 Disconnecting the connectors for axis-3 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 226 Disconnecting the connectors for axis-4 motor Action Note Disconnect the axis-4 motor connectors. • R2.MP4 • R2.FB4 xx2300000492 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 227 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000545 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 228 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 229 Remove the screws. For robots with protection class IP30 (option 3350-300) Remove the cover. xx2300000498 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 230 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 231 • SMB.J2 Take photos of the connector and cable position before disconnecting them, to have as a reference when reconnecting. xx2100000945 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 232 For robots with protection class Remove the rear plate. IP30 (option 3350-300) xx2300000608 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 233 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the connectors. • R2.MP1 • R2.FB1 xx2300000504 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 234 Removing the bracket of the cable arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 235 Take photos of the connector and cable position before disconnecting them, to have as a reference when reconnecting. xx2300000507 For underneath outlet cable ver- sion: xx2300000612 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 236 Remove the bracket from the inner arm to release the cable. xx2300000508 Remove the screws on the cable ferrule to the bracket and take the bracket out. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 237 Remove the screws locking the cable arm to the outer arm. Remove the cable arm by pulling out from the in- ner arm bearing. xx2300000516 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 238 Removing the oil tank Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 239 Removing the base from inner arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 240 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the screws. Remove the rubber stop from the inner arm. xx2300000551 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 241 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the screws. Remove the A2 swing from the inner arm. xx2300000554 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 242 Screws: Hex socket head cap screw M4x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) xx2300000585 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 243 603+Geomet 500 (1 pcs) xx2300000587 Remove the pressing part by unscrewing the screw. Remove the holding part by unscrewing the screws. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 244 Refit the damper back to the inner arm. Screws: Torx pan head screw 9ADA625-34 M4x10 8.8-A2F(1 pcs) Secure with the screws. Tightening torque: 1 Nm ±3% xx2300000552 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 245 Tightening torque: 1 Nm xx2300000551 Refitting the base to the inner arm Action Note Refit the BassSwing gasket to the axis-1 gearbox. xx2300000602 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 246 M4x10 12.9 Lafre Secure the screws on the protection tube to the 2C2B/FC6.9 (4 pcs) inner arm. Tightening torque: 1 Nm xx2300000513 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 247 Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Refit the gear gasket to the axis-2 gear unit. xx2300000603 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 248 Secure the cable arm to the outer arm with the Screws: Hex socket head cap screws. screw M4x10 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque:3.3 Nm2.4 Nm ±3% xx2300000516 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 249 Make sure that no cables or hoses are twisted or For underneath outlet cable ver- strained. Reroute if necessary. sion: xx2300000610 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 250 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Lay the main harness in a natural state without distortion. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 251 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 252 Secure the SMB cover to the base with the Screws: Hex socket head cap screws. screw M4x10 12.9 Lafre 2C2B/FC6.9 (6 pcs) Tightening torque: 2.6 Nm xx2300000489 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 253 Refitting the base plate/ rear plate Action Note Apply grease to the internal harness, cover all moving area of the harness. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 254 Screws: Hex socket head cap brackets in inner arm. screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) x 2 Tightening torque: 2.4 Nm ±10% Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 255 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000508 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 256 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000506 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 257 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 258 Route the cabling on the axis-4 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 259 Route the cabling on the axis-3 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 260 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 261 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 262 See the number markings on the air hoses for help to find the corresponding air hoses. The air hoses with the same number connect to the same Y-shaped connector. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 263 M4x30 12.9 Lafre 2C2B/FC6.9 (14 Refit the screws. pcs) Tightening torque: 2.4 Nm ±10% For robots with protection class IP30 (option 3350-300) xx2300000488 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 264 M4x10 12.9 Lafre 2C2B/FC6.9 (6 Refit the screws. pcs) Tightening torque: 2.4 Nm ±3% For robots with protection class IP30 (option 3350-300) xx2300000498 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 265 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 266 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 267 Concluding procedure Action Note Recalibrate the robot. Calibration is detailed in section Calibration on page 553. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 268 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 269: Replacing The Axis-1 Oil Tank
The axis-1 oil tank is located as shown in the figure. xx2300000472 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 270 Preparations before removing the oil tank Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 272 Drain the gearbox oil. Note Draining is time-consuming. Elapsed time varies depending on the temperature of the oil. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 273 Removing the oil tank Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 274 M4x10 12.9 Lafre Secure the screws on the oil tank to the inner arm. 2C2B/FC6.9 (5 pcs) Tightening torque: 2.4 Nm ±3% xx2300000511 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 275 Open the oil plugs, one for filling and the other for venting. xx2300000547 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 276 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 277: Outer Arm
The mechanical stoppers are located as shown in the figure. xx2300000172 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 278 Preparations before removing the upper mechanical stopper Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 280 Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 282 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 283: Replacing The Pulley On The Ball Screw Upper Position
The pulley is located as shown in the figure. xx2300000473 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 284 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 285 Remove the screws locking the process hub. For robots with protection class IP30 xx2300000487 Push the process hub to the outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 286 Loosen the screws of the axis-3 motor sub-as- sembly to let the axis-3 timing belt free. xx2300000557 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 287 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the screws. For robots with protection class IP30 (option 3350-300) xx2300000556 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 288 Remove the screws and washers on the ball screw flange. xx2300000559 Insert the special tool auxiliary shaft into the ball IRB 930 auxiliary screw shaft. shaft:3HAC087847-001 xx2300000562 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 289 Removing the pulley on the ball screw upper position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 290 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 291 With the inserting of the ball screw shaft, remove the special tool auxiliary shaft along with the ball screw shaft carefully. xx2300000564 xx2300000563 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 292 Be careful when you do any work that may cause this. xx2300000561 Note Be careful with the orientation of the mechanical stopper. The flat side is on the upper side. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 293 Action Note Install a screw to the reserved hole on the process hub. Grip the screw to install the process hub. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 294 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 295: Replacing The Pulley On The Ball Screw Lower Position
The pulley is located as shown in the figure. xx2300000474 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 296 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 297 Removing the process hub screws Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 298 Releasing the axis-3 timing belt Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 299 Loosen the six screws of the axis-4 motor sub- assembly to let the axis-4 timing belt be free. xx2300000558 Release the timing belt. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 300 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 301 IRB 930 auxiliary screw shaft. shaft:3HAC087847-001 xx2300000562 Mark the location of the ball screw shaft grooves on the ball screw lower nut. xx2300000563 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 302 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 303 Be careful when you do any work that may cause this. Refit the screws. Secure with the stopping tool to prevent the pulley from rotating. xx2300000567 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 304 Pre-tighten the screws at 0.5Nm and slide the ball screw up and down for five times. Then tighten the screws at 6 Nm ±3% to secure it. xx2300000559 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 305 Screws: Hex socket head cap screw M4x14 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 6 Nm For robots with protection class IP30 (option 3350-300) xx2300000556 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 306 Remove the screw. Concluding procedure Action Note Recalibrate the robot. Calibration is detailed in section Calibration on page 553. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 307 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 308: Replacing The Ball Screw
The ball screw is located as shown in the figure. xx2300000475 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 309 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 310 Remove the screws locking the process hub. For robots with protection class IP30 xx2300000487 Push the process hub to the outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 311 Loosen the screws of the axis-3 motor sub-as- sembly to let the axis-3 timing belt free. xx2300000557 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 312 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the screws. For robots with protection class IP30 (option 3350-300) xx2300000556 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 313 Remove the screws and washers on the ball screw flange. xx2300000559 Insert the special tool auxiliary shaft into the ball IRB 930 auxiliary screw shaft. shaft:3HAC087847-001 xx2300000562 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 314 Removing the pulley on the ball screw lower position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 317 Insert the special tool into the ball screw shaft. IRB 930 auxiliary shaft:3HAC087847-001 xx2300000592 Move the ball screw nut from the ball screw shaft to the special tool. xx2300000593 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 318 Be careful when you do any work that may cause this. Refit the screws. xx2300000590 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 319 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 320 With the inserting of the ball screw shaft, remove the special tool auxiliary shaft along with the ball screw shaft carefully. xx2300000564 xx2300000563 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 321 Be careful when you do any work that may cause this. xx2300000561 Note Be careful with the orientation of the mechanical stopper. The flat side is on the upper side. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 322 Action Note Install a screw to the reserved hole on the process hub. Grip the screw to install the process hub. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 323 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 324: Replacing The Axis-3 Timing Belt
The axis-3 timing belt is located as shown in the figure. xx2300000476 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 325 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 326 Remove the screws locking the process hub. For robots with protection class IP30 xx2300000487 Push the process hub to the outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 327 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the connectors. • R2.MP2 • R2.FB2 xx2300000490 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 328 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000494 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 329 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000496 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 330 Releasing the ball screw with the flange Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 331 The sudden drop of the ball screw due the lost of the axis-3 motor may cause danger. Remove the axis-3 timing belt. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 332 Pre-tighten the screws at 0.5Nm and slide the ball screw up and down for five times. Then tighten the screws at 6 Nm ±3% to secure it. xx2300000559 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 333 New belt:109-119 Hz If the timing belt tension does not meet the require- ment, readjust the motor with the adjusting screw. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 334 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 335 Route the cabling on the axis-4 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 336 Route the cabling on the axis-3 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 337 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 338 Remove the screw. Concluding procedure Action Note Recalibrate the robot. Calibration is detailed in section Calibration on page 553. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 339 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 340: Replacing The Axis-4 Timing Belt
The axis-4 timing belt is located as shown in the figure. xx2300000477 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 341 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 342 Removing the process hub screws Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 343 Disconnecting the connectors for axis-2 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 344 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the connectors. • R2.MP3 • R2.FB3 xx2300000491 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 345 Removing the base bracket Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 346 Removing the axis-4 motor sub-assembly Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 347 ESD on page Remove the screws and washers on the ball screw flange. xx2300000559 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 348 Removing the axis-4 timing belt Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 349 Action Note Hold the ball screw with the flange assembly a little bit to let the timing belts can go in. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 350 Refitting the axis-4 motor sub-assembly Action Note Refit the motor with flange to the outer arm. Move the internal harness out of the way. xx2300000597 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 351 Tighten the motor screws when the timing belt Tightening torque: 6 Nm ±10% meets the requirement. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 352 New belt:109-119 Hz If the timing belt tension does not meet the require- ment, readjust the motor with the adjusting screw. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 353 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- xx2300000495 isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 354 DANGER Make sure that the correct connectors are matched before reconnecting the connectors. Otherwise the robot motor may be broken. xx2300000491 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 355 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 356 Remove the screw. Concluding procedure Action Note Recalibrate the robot. Calibration is detailed in section Calibration on page 553. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 357 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 358: Replacing The Cable Arm
The cable arm is located as shown in the figure. xx2300000478 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 359 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 360 Remove the screws locking the process hub. For robots with protection class IP30 xx2300000487 Push the process hub to the outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 361 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the air hoses from the L-shaped con- nectors. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 362 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000544 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 363 Disconnecting the connectors for axis-3 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 364 Disconnecting the connectors for axis-4 motor Action Note Disconnect the axis-4 motor connectors. • R2.MP4 • R2.FB4 xx2300000492 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 365 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000545 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 366 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 367 Remove the screws. For robots with protection class IP30 (option 3350-300) Remove the cover. xx2300000498 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 368 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the bracket from the cable arm to release the cable. xx2300000506 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 369 Removing the cable arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 370 Refitting the sealing ring Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 371 Screws: Hex socket head cap brackets in inner arm. screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) x 2 Tightening torque: 2.4 Nm ±10% Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 372 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000508 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 373 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000506 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 374 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 375 Route the cabling on the axis-4 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 376 Route the cabling on the axis-3 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 377 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 378 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 379 See the number markings on the air hoses for help to find the corresponding air hoses. The air hoses with the same number connect to the same Y-shaped connector. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 380 IP30 (option 3350-300) cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 381 M4x10 12.9 Lafre Refit the screws. 2C2B/FC6.9 (7 pcs) Tightening torque: 6 Nm ±3% For robots with protection class IP30 (option 3350-300) xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 382 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 383: Replacing The Outer Arm
The outer arm is located as shown in the figure. xx2300000479 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 384 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 385 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 386 Drain the gearbox oil. Note Draining is time-consuming. Elapsed time varies depending on the temperature of the oil. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 387 Removing the cover of the outer arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 388 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the air hoses from the L-shaped con- nectors. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 389 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000544 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 390 Disconnecting the connectors for axis-3 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 391 Disconnecting the connectors for axis-4 motor Action Note Disconnect the axis-4 motor connectors. • R2.MP4 • R2.FB4 xx2300000492 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 392 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000545 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 393 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 394 Remove the screws. For robots with protection class IP30 (option 3350-300) Remove the cover. xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 395 Removing the main harness from the cable arm position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 396 Remove the screws locking the cable arm to the outer arm. Remove the cable arm by pulling out from the in- ner arm bearing. xx2300000516 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 397 Removing the axis-2 motor sub-assembly Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 398 Removing the axis-4 motor sub-assembly Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 399 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the screws. For robots with protection class IP30 (option 3350-300) xx2300000556 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 400 Remove the screws and washers on the ball screw flange. xx2300000559 Insert the special tool auxiliary shaft into the ball IRB 930 auxiliary screw shaft. shaft:3HAC087847-001 xx2300000562 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 401 Removing the axis-3 timing belt Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 402 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 404 Refitting the axis-2 gear unit sub-assembly to the outer arm Action Note CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 405 CAUTION Make sure the ball screw nut works fluently. Secure the screws on the lower nut to the outer arm. xx2300000568 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 406 Placing the axis-3 and axis-4 timing belts into the outer arm Action Note Place the axis-3 and axis-4 timing belts into the outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 407 Pre-tighten the screws at 0.5Nm and slide the ball screw up and down for five times. Then tighten the screws at 6 Nm ±3% to secure it. xx2300000559 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 408 For robots with protection class IP30 (option 3350-300) xx2300000556 Refitting the axis-2 motor sub-assembly Action Note Replace the o-ring if needed. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 409 Refit the timing belt to the pulley on the ball screw Timing belt, A4: and the motor. Ensure that the belt runs correctly 3HAC081706-001 in the grooves. xx2300000588 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 410 Refitting the axis-3 motor sub-assembly Action Note Refit the motor with flange to the outer arm. Move the internal harness out of the way. xx2300000594 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 411 Refitting the outer arm to the inner arm Action Note CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 412 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Refit the cable arm to the inner arm and outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 413 For rear outlet cable version: the inner arm. Wrap the connectors with the masking tape. xx2300000510 For underneath outlet cable ver- sion: xx2300000610 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 414 For rear outlet cable version: the cable arm. Wrap the connectors with the masking tape. xx2300000510 For underneath outlet cable ver- sion: xx2300000610 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 415 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 416 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- xx2300000495 isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 417 DANGER Make sure that the correct connectors are matched before reconnecting the connectors. Otherwise the robot motor may be broken. xx2300000491 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 418 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 419 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 420 See the number markings on the air hoses for help to find the corresponding air hoses. The air hoses with the same number connect to the same Y-shaped connector. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 421 IP30 (option 3350-300) cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 422 M4x10 12.9 Lafre Refit the screws. 2C2B/FC6.9 (7 pcs) Tightening torque: 6 Nm ±3% For robots with protection class IP30 (option 3350-300) xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 423 The amount of oil to be filled depends on the amount previously being drained. CAUTION Oil filling must be slow to make sure air venting is fluent. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 424 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 425: Motors
The axis-1 motor sub-assembly is located as shown in the figure. xx2300000480 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 426 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 427 Removing the SMB cover Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 428 • SMB.J2 Take photos of the connector and cable position before disconnecting them, to have as a reference when reconnecting. xx2100000945 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 429 For robots with protection class Remove the rear plate. IP30 (option 3350-300) xx2300000608 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 430 Removing the base bracket Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 431 Refitting the axis-1 motor sub-assembly Action Note Replace the o-ring if needed. Put the timing belt into the pulley on the gear. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 432 Reconnect the connectors. • R2.MP1 • R2.FB1 See the number markings on the connectors for help to find the corresponding connector. xx2300000504 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 433 Refit the base bracket to the base and secure with the screws. xx2300000503 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 434 • SMB.J2 Take photos of the connector and cable position before disconnecting them, to have as a reference when reconnecting. xx2100000945 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 435 Refitting the base plate/ rear plate Action Note Apply grease to the internal harness, cover all moving area of the harness. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 436 Tightening torque: 56 Nm ±10% Concluding procedure Action Note Recalibrate the robot. Calibration is detailed in section Calibration on page 553. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 437 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 438: Replacing The Axis-2 Motor Sub-Assembly
The axis-2 motor sub-assembly is located as shown in the figure. xx2300000481 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 439 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 440 Removing the process hub screws Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 441 Disconnecting the connectors for axis-2 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 442 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the protection cover on the motor. xx2300000550 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 443 Refit the screws and washers. 603+Geomet 500 (4 pcs) Washers: Spring washer, conical 11x5.3x1.2 Steel (4 pcs) Tightening torque: 2.3 Nm ±10% xx2300000605 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 444 DANGER Make sure that the correct connectors are matched before reconnecting the connectors. Otherwise the robot motor may be broken. xx2300000490 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 445 IP30 (option 3350-300) cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 446 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 447: Replacing The Axis-3 Motor Sub-Assembly
The axis-3 motor sub-assembly is located as shown in the figure. xx2300000482 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 448 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 449 Remove the screws locking the process hub. For robots with protection class IP30 xx2300000487 Push the process hub to the outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 450 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the connectors. • R2.MP2 • R2.FB2 xx2300000490 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 451 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000494 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 452 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000496 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 453 Separating the flange from axis-3 motor sub-assembly Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 454 M5x16 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Plain washer 11x5.3x1.2 Steel (4 pcs) Tightening torque: 2.3 Nm ±10% 3HAB3409-212 xx2300000607 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 455 New belt:109-119 Hz If the timing belt tension does not meet the require- ment, readjust the motor with the adjusting screw. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 456 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 457 Route the cabling on the axis-4 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 458 Route the cabling on the axis-3 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 459 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 460 Remove the screw. Concluding procedure Action Note Recalibrate the robot. Calibration is detailed in section Calibration on page 553. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 461 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 462: Replacing The Axis-4 Motor Sub-Assembly
The axis-4 motor sub-assembly is located as shown in the figure. xx2300000483 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 463 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 464 Removing the process hub screws Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 465 Disconnecting the connectors for axis-2 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 466 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the connectors. • R2.MP3 • R2.FB3 xx2300000491 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 467 Removing the outer arm cable ferrule and bracket Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 468 Make sure that the ball screw is supported with something. The sudden drop of the ball screw due the lost of the axis-3 motor may cause danger. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 469 Removing the pulley from axis-4 motor sub-assembly Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 470 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the screws. Separate the gearhead and motor. xx2300000600 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 471 Screws: Hex socket head cap and secure with screws. flange screw 3HAB3412-435 M4x25 12.9 Lafre 2C2B/FC6.9+PrO- COat111 (6 pcs) Tightening torque: 4.3 Nm ±10% xx2300000599 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 472 Refitting the axis-4 motor sub-assembly Action Note Refit the motor with flange to the outer arm. Move the internal harness out of the way. xx2300000597 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 473 Refitting the cable ferrule and bracket in the outer arm Action Note Lay the internal harness in a natural state without distortion. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 474 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 475 Route the cabling on the axis-4 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 476 Route the cabling on the axis-3 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 477 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 478 Remove the screw. Concluding procedure Action Note Recalibrate the robot. Calibration is detailed in section Calibration on page 553. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 479 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 480: Gearboxes
The axis-1 gear unit sub-assembly is located as shown in the figure. xx2300000484 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 481 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 482 Draining oil of axis-1 gearbox Action Note WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 483 Used oil is hazardous material and must be disposed of in a safe way. See Decom- missioning on page 585 for more informa- tion. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 484 Removing the cover of the outer arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 485 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the air hoses from the L-shaped con- nectors. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 486 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000544 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 487 Disconnecting the connectors for axis-3 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 488 Disconnecting the connectors for axis-4 motor Action Note Disconnect the axis-4 motor connectors. • R2.MP4 • R2.FB4 xx2300000492 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 489 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000545 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 490 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 491 Remove the screws. For robots with protection class IP30 (option 3350-300) Remove the cover. xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 492 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Cut the strips. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 493 For rear outlet cable version: the screws on the base plate. For robots with protection class IP30 (option 3350-300) Remove the base plate. xx2300000500 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 494 Disconnecting the connectors for axis-1 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 495 Remove the screws on the base bracket to the base from the SMB side. xx2300000503 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 496 Removing the main harness from the cable arm position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 497 Removing the main harness from the axis -1 gearbox position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 498 Wrap the connectors with the masking tape. xx2300000507 For underneath outlet cable ver- sion: xx2300000612 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 499 Removing the oil tank Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 500 Removing the base from inner arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 501 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the screws and washers. Remove the motor. xx2300000512 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 502 Screws: Hex socket head cap tion. screw M6x65 12.9 Gleitmo 603+Geomet 500 (11 pcs) Refit the screws. Tightening torque: 10 Nm ±10% xx2300000515 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 503 Refitting the axis-1 motor sub-assembly Action Note Replace the o-ring if needed. Put the timing belt into the pulley on the gear. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 504 M4x10 12.9 Lafre Secure the screws on the protection tube to the 2C2B/FC6.9 (4 pcs) inner arm. Tightening torque: 1 Nm xx2300000513 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 505 Inserting the main harness through the axis -1 gearbox position Action Note Make sure that the robot is at zero position. xx2300000486 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 506 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- xx2300000505 isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 507 Refit the base bracket to the base and secure with the screws. xx2300000503 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 508 • SMB.J2 Take photos of the connector and cable position before disconnecting them, to have as a reference when reconnecting. xx2100000945 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 509 Secure with the screws. Screws: Hex socket head cap screw M3x30 12.9 Lafre 2C2B/FC6.9 (6 pcs) Tightening torque: 1.2 Nm ±10% xx2300000509 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 510 Refitting the base plate/ rear plate Action Note Apply grease to the internal harness, cover all moving area of the harness. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 511 Screws: Hex socket head cap brackets in inner arm. screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) x 2 Tightening torque: 2.4 Nm ±10% Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 512 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000508 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 513 Secure the bracket to the inner arm. Screws: Hex socket head cap screw M4x10 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 2.4 Nm ±10% xx2300000506 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 514 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 515 Route the cabling on the axis-4 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 516 Route the cabling on the axis-3 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 517 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 518 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 519 See the number markings on the air hoses for help to find the corresponding air hoses. The air hoses with the same number connect to the same Y-shaped connector. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 520 IP30 (option 3350-300) cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 521 M4x10 12.9 Lafre Refit the screws. 2C2B/FC6.9 (7 pcs) Tightening torque: 6 Nm ±3% For robots with protection class IP30 (option 3350-300) xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 522 The amount of oil to be filled depends on the amount previously being drained. Refit the oil plugs. Tightening torque: 10 Nm Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 523 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 524: Replacing The Axis-2 Gear Unit Sub-Assembly
The axis-2 gear unit sub-assembly is located as shown in the figure. xx2300000485 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 930 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 525 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 526 Draining oil of axis-2 gearbox Action Note WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 527 Used oil is hazardous material and must be disposed of in a safe way. See Decom- missioning on page 585 for more informa- tion. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 528 Removing the cover of the outer arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 529 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Disconnect the air hoses from the L-shaped con- nectors. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 530 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000544 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 531 Disconnecting the connectors for axis-3 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 532 Disconnecting the connectors for axis-4 motor Action Note Disconnect the axis-4 motor connectors. • R2.MP4 • R2.FB4 xx2300000492 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 533 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000545 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 534 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 535 Remove the screws. For robots with protection class IP30 (option 3350-300) Remove the cover. xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 536 Removing the main harness from the cable arm position Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 537 Remove the screws locking the cable arm to the outer arm. Remove the cable arm by pulling out from the in- ner arm bearing. xx2300000516 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 538 Removing the axis-2 gear unit sub-assembly from the outer arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 539 IP30 (option 3350-300) When the gear unit is in the right position, you can hear a clear "Click". Refit the screws. xx2300000606 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 540 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Refit the cable arm to the inner arm and outer arm. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 541 For rear outlet cable version: the inner arm. Wrap the connectors with the masking tape. xx2300000510 For underneath outlet cable ver- sion: xx2300000610 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 542 For rear outlet cable version: the cable arm. Wrap the connectors with the masking tape. xx2300000510 For underneath outlet cable ver- sion: xx2300000610 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 543 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx2300000497 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 544 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- xx2300000495 isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 545 DANGER Make sure that the correct connectors are matched before reconnecting the connectors. Otherwise the robot motor may be broken. xx2300000491 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 546 Route the cabling behind the axis-2 motor. CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 547 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 548 See the number markings on the air hoses for help to find the corresponding air hoses. The air hoses with the same number connect to the same Y-shaped connector. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 549 IP30 (option 3350-300) cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx2300000487 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 550 M4x10 12.9 Lafre Refit the screws. 2C2B/FC6.9 (7 pcs) Tightening torque: 6 Nm ±3% For robots with protection class IP30 (option 3350-300) xx2300000499 Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 551 The amount of oil to be filled depends on the amount previously being drained. CAUTION Oil filling must be slow to make sure air venting is fluent. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 552 553. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 553: Calibration
Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.
Page 554: Calibration Methods
Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 930. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...
Page 555 References Article numbers for the calibration tools are listed in the section Special tools on page 597. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 556: When To Calibrate
The resolver values are changed If resolver values are changed, the robot must be re-calibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. If the robot has absolute accuracy calibration, it is also recommended, but not always necessary to calibrate for new absolute accuracy.
Page 557: Synchronization Marks And Axis Movement Directions
6.2.1 Synchronization marks and synchronization position for axes Introduction This section shows the position of the synchronization marks and the synchronization position for each axis. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 558 6 Calibration 6.2.1 Synchronization marks and synchronization position for axes Continued Synchronization marks, IRB 930 xx2300000573 Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 559: Calibration Movement Directions For All Axes
Positive directions are shown in the graphic below. Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below. Manual movement directions xx2300000574 Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 560: Updating Revolution Counters
When all axes are positioned, update the Step 2 - Updating the revolution counter revolution counter. with the FlexPendant on page 562. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 562 Step 2 - Updating the revolution counter with the FlexPendant Note Revolution counters of axes 3 and 4 must be updated together. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 563 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 584. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 564: Calibrating With Axis Calibration Method
FlexPendant. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. WARNING The calibration tool must be fully inserted into the calibration bushing, until the steel spring ring snaps into place.
Page 565 A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory. The reference value will be named according to tool name, date etc.
Page 566 New calibration values have to be downloaded to SafeMove, and a new SafeMove calibration has to be done. Make sure that the user rights admit to change the safety settings and to synchronize SafeMove. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 567: Calibration Tools For Axis Calibration
There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
Page 568 It is possible to make the calibration tool identifiable with, for example, an RFID chip. The procedure of how to install an RFID chip is described below. Note The tool identifier is NOT delivered from ABB, it is a customized solution. Action Note It is possible to use any RFID solution, with the correct dimensions.
Page 569: Installation Locations For The Calibration Tools
Replace damaged parts with new. Spare part Article number Note Protective plug for bushing 3HAC053237-002 Replace if damaged or missing. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 570: Axis Calibration - Running The Calibration Procedure
WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the robot and/or personnel. Equipment, etc.
Page 571 For RobotWare 7, the mechanical unit page is displayed only if there is more than one mechan- ical unit available. The calibration method used at ABB factory for The FlexPendant will give all inform- each axis is shown, as well as calibration method ation needed to proceed with Axis used for the robot during last field calibration.
Page 572 Axis Calibration routine. When a warning message is displayed, tap Acknowledge to confirm the unsynchronized state and continue Axis Calibration procedure. CAUTION SafeMove must be synchronized after the calibration is completed. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 573 Ensure that the sealing is not damaged. Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protective plug for bushing: 3HAC053237-002. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 574: Reference Calibration
6.4.5 Reference calibration Brief introduction to Reference Calibration Note Only axes 1 and 2 of the IRB 930 can be calibrated with the reference calibration routine. Reference calibration is a faster method compared to Fine calibration, as it refers to a previously made calibration.
Page 575 The requirement to do manual tuning is that there is a known accurate position, that worked accurately before the repair (step 5, see Brief introduction to Reference Calibration on page 574). Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 576: Calibrating The Robot
6 Calibration 6.5.1 Calibration position 6.5 Calibrating the robot 6.5.1 Calibration position Calibration position The table below specifies the axis positions. Axis 2 mm 0° Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 577: Calibrating Axis 1 And Axis 2
6.5.2 Calibrating axis 1 and axis 2 6.5.2 Calibrating axis 1 and axis 2 Calibrating axis 1 and axis 2 Axes 1 and 2 of the IRB 930 are calibrated using the Axis Calibration method. See Calibrating with Axis Calibration method on page 564.
Page 578: Calibrating Axis 3 And Axis 4
The axis-3 calibration is done by moving the ball screw spline unit so that the upper surface of the lower mechanical stopper and the lower surface of the ball screw lower nut touch each other gently. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 579 Make sure the payload is disassembled or tooling is properly supported; otherwise, fast downward movements of axis 3 may cause severe hits. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 580 The calibration summary for the selected mechan- ical unit is displayed. On the right pane tap Calibration Methods. Tap Calibration Parameters. The calibration parameters are displayed. Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 582 In this case, update the revolution counters for axis 3 and axis 4 (axis 4 is coupled with axis 3). See Updating revolution counters on page 560. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 583: Verifying The Calibration
557. Write down the values on a new label and stick it on top of the calibration label. The label is located on the base. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 584: Checking The Synchronization Position
If they do not, up- ization position for axes on page 557 date the revolution counters. Updating revolution counters on page 560. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 585: Decommissioning
See also Environmental information on page 586. Transportation Prepare the robot or parts before transport, this to avoid hazards. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 586: Environmental Information
7.2 Environmental information 7.2 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or upcycled helps to reduce the usage of natural resources.
Page 587 Spills can form a film on water surfaces causing damage to organisms. Oxygen transfer could also be impaired. • Spillage can penetrate the soil causing ground water contamination. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 588: Scrapping Of Robot
• A used robot does not have the same performance as on delivery. Springs, brakes, bearings, and other parts might be worn or broken. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 589: Reference Information
8.1 Introduction 8 Reference information 8.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 590: Applicable Standards
Industrial robots and robot Systems - General safety require- ments EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 591: Unit Conversion
1 kg 2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 592: Screw Joints
8.4 Screw joints 8.4 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
Page 593 Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm) Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric- ated ated Continues on next page Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 594 Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Lubricated with Molycote 1000, Gleitmo 603 or equivalent Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 595: Weight Specifications
All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.
Page 596: Standard Toolkit
Hex bit socket head cap no. 6 socket 40 mm L=145 mm Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Plastic mallet Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 597: Special Tools
If the replacing procedure is not listed in the table below, only standard tools are needed for the procedure. Tools and equipment with spare part number: (These tools can be ordered from ABB) 24 VDC power supply 3HAC074119-001 Calibration toolbox, Axis Calibration Delivered as a set of calibration tools.
Page 598: Lifting Accessories And Lifting Instructions
The use of each piece of lifting accessories is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting accessories. The instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 599: Spare Parts
Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.abb.com/myABB. All documents can be found via myABB Business Portal, www.abb.com/myABB. Product manual - IRB 930 3HAC086009-001 Revision: A...
Page 600 This page is intentionally left blank...
Page 601 98 robot, 19 climbing on robot, 30 leak-down test, 112 Cold environments, 76 lifting accessory, 595 connecting the robot and controller, cabling, 71 Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 602 586 sync marks, 557 regional regulations, 26 system integrator requirements, 26 release brakes, 33 replacements, report, 111 replacing technical data mechanical stop robot, 38 Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 603 35 upcycling, 586 replacing, 49, 119, 129, 171, 277, 283, 295, 308, 340 updating revolution counters, 560 users requirements, 16 zero position checking, 584 Product manual - IRB 930 3HAC086009-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 606 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2023 ABB. All rights reserved. Specifications subject to change without notice.

ABB IRB 930 Product Manual

Quick Links

Related Manuals for ABB IRB 930

Summary of Contents for ABB IRB 930

Table of Contents